Is it permissible to take money from a man without his knowledge and then return it to him later?

It is forbidden to take someone else's money without their permission, even if the taker intends to return it later, because the Prophet, peace and blessings be upon him, said: "It is not lawful for a person to take anything from his brother's property except what he gives him willingly," and "No one should milk another's animal except with his permission." This includes all types of property, and there is no difference between milk and other things, except for the one in dire necessity who may consume only what is necessary and is obligated to replace it.